Determining which product features provide UX

Does anyone know of any papers/articles where the effort is focused on determining UX features (for any type of product) using scenarios/narratives. The key is that the article needs to be focused on DETERMINING a set of features of interest. In the articles I have the author has a list of features and are using users to help determine which are relevant whereas, in my case I want to determine the list of features. My idea is to use scenarios/narratives or another approach (if you can suggest one) to develop a list of UX features that provide a positive experience with robotic systems. The challenge here is that the user does not have an actual robot to use nor do we have a prototype to use for stimulation. Any suggestions on a paper/article or thoughts on the approach?

*****UPDATE I am really late coming back to this but in this regard we were looking at UX to see how it could improve collaboration between humans and robots. We ended up going in a slightly different direction and did not focus on creating scenarios but instead interviewed a number of space robotic operators and analyzed their comments based on hedonic and pragmatic UX Dimensions to determine their UX thoughts on current systems. Results of effort see link